Mechanical arm control method, device, system, equipment and medium

Abstract

The present disclosure relates to the technical field of mechanical arm control, in particular to a mechanical arm control method, device, system, equipment and medium, the method comprises: driving the first joint and the fourth joint to rotate. When the actuator mounting point crosses the joint connecting line, stop driving the first joint and the fourth joint to rotate, and obtain the target speed component. Obtain the speed component threshold. If the absolute value of the target speed component is greater than or equal to the target speed component threshold, when the end effector stops moving, obtain the first joint angle and the second joint angle. Construct the first position constraint equation and solve it to obtain the first solving position and the second solving position. The position farthest from the joint connecting line in the first solving position and the second solving position is determined as the stop position. This scheme does not need to rely on image recognition technology to obtain the actuator mounting point position, thereby helping to improve the working efficiency of the mechanical arm and reduce the control cost.

Description

Technical Field

[0001] This disclosure relates to the field of robotic arm control technology, specifically to a robotic arm control method, device, system, equipment, and medium. Background Technology

[0002] A robotic arm is an automated device that can simulate the movements of an arm. It is widely used in various fields such as industrial manufacturing, logistics and transportation, medical care, and service and entertainment. By controlling a robotic arm, operations such as material handling, assembly, welding, and spraying can be performed, which helps to improve production efficiency in related fields.

[0003] In related fields, accurately knowing the location of the actuator mounting points within the robotic arm is crucial for improving control precision when controlling a robotic arm. One approach is to acquire real-time images of the robotic arm and perform image recognition to determine the locations of the actuator mounting points.

[0004] In recent years, with the advancement of technology, the requirements for the working efficiency of robotic arms in related fields have gradually increased. Considering that the above solution relies on image recognition to obtain the position of the actuator mounting point in the robotic arm, the speed of obtaining the position of the actuator mounting point in the robotic arm is relatively slow, thereby reducing the working efficiency of the robotic arm. At the same time, the solution also requires too much processing resources, resulting in high cost. Summary of the Invention

[0005] To address the problems in the related technologies, this disclosure provides a robotic arm control method, apparatus, system, device, and medium.

[0006] In a first aspect, this disclosure provides a robotic arm control method. The robotic arm includes a first inner arm, a second inner arm, a first outer arm, a second outer arm, a horizontal connecting rod, and an end effector. The lengths of the first inner arm and the second inner arm are both target inner arm lengths, and the lengths of the first outer arm and the second outer arm are both target outer arm lengths. One end of the first inner arm is rotatably connected to a first fixed base via a first joint, and the other end of the first inner arm is rotatably connected to one end of the first outer arm via a second joint. The other end of the first outer arm is rotatably connected to one end of the horizontal connecting rod via a third joint. One end of the second inner arm is rotatably connected to a second fixed base via a fourth joint, and the other end of the second inner arm is rotatably connected to one end of the second outer arm via a fifth joint. The other end of the second outer arm is rotatably connected to the other end of the horizontal connecting rod via a sixth joint. The end effector is connected to an actuator mounting point located at the center of the horizontal connecting rod.

[0007] Robotic arm control methods include:

[0008] If the actuator mounting point is located on one side of the joint connection line, the first and fourth joints are driven to rotate, causing the end effector to move to the other side of the joint connection line, and the horizontal connecting rod is always parallel to the joint connection line, where the joint connection line is the line connecting the axis of the first joint and the axis of the fourth joint, and the direction of rotation of the first joint is opposite to the direction of rotation of the fourth joint.

[0009] When the actuator mounting point crosses the joint connection line, stop driving the first and fourth joints to rotate, and obtain the target velocity component of the actuator mounting point in the target direction perpendicular to the joint connection line.

[0010] The velocity component threshold is obtained based on the target joint friction torque, the target outer arm length, the target inner arm length, the mass of the robotic arm, the base distance between the first and fourth joints, and the connecting rod length of the horizontal connecting rod, where the target joint friction torque is the friction torque of the joint in the robotic arm.

[0011] If the absolute value of the target velocity component is greater than or equal to the target velocity component threshold, then when the end effector stops moving, the first joint angle of the first joint and the second joint angle of the fourth joint are obtained.

[0012] Based on the target outer arm length, target inner arm length, base distance, connecting rod length, first joint angle, and second joint angle, a first position constraint equation for the actuator mounting point is constructed, and the first position constraint equation is solved to obtain the first and second solution positions of the actuator mounting point.

[0013] The position that is furthest from the joint line between the first and second solution positions is determined as the stop position of the actuator installation point on the other side of the joint line.

[0014] In one embodiment of this disclosure, a velocity component threshold is obtained based on the target joint friction torque, the target outer arm length, the target inner arm length, the mass of the robotic arm, the base distance between the first and fourth joints, and the connecting rod length of the horizontal connecting rod, including:

[0015] based on The first threshold coefficient was calculated. ;

[0016] in For the target inner arm length, For the target outer arm length, It is half the distance from the base. The length of the connecting rod;

[0017] based on The second threshold coefficient was calculated. ;

[0018] based on Calculate the velocity component threshold ;

[0019] in For the target joint friction torque, The mass of the robotic arm.

[0020] In one embodiment of this disclosure, the first position constraint equation includes:

[0021]

[0022] in, The first position constraint coefficient, This is the second position constraint coefficient. This is the third position constraint coefficient. For the first joint angle, For the second joint angle, Let be the vertical coordinate of the actuator mounting point in the robot arm coordinate system. The origin of the robot arm coordinate system coincides with the midpoint of the joint connection line. The horizontal axis of the robot arm coordinate system coincides with the joint connection line, and the vertical axis of the robot arm coordinate system is perpendicular to the joint connection line.

[0023] Solve the first position constraint equation to obtain the first and second solution positions of the actuator mounting point, including:

[0024] Solve the first position constraint equation to obtain the coordinates of the first solution position and the coordinates of the second solution position;

[0025]

[0026] Let the coordinates of the first solution position be in the coordinate system of the robotic arm. The coordinates of the second solution position in the coordinate system of the robotic arm are given.

[0027] In one embodiment of this disclosure, the robotic arm control method further includes:

[0028] The real-time position of the actuator mounting point is obtained, and based on the real-time position of the actuator mounting point, the target outer arm length, the target inner arm length, the base distance, and the connecting rod length, a first set of solution angles, including multiple solution angles, corresponding to the first joint and a second set of solution angles, including multiple solution angles, corresponding to the fourth joint are calculated.

[0029] Based on the target outer arm length, target inner arm length, base distance, connecting rod length, the first target solution angle in the first solution angle set, and the second target solution angle in the second solution angle set, construct the second position constraint equation of the actuator mounting point, solve the second position constraint equation, and obtain the third and fourth solution positions of the actuator mounting point.

[0030] If the position furthest from the joint line among the third and fourth solution positions matches the real-time position of the actuator mounting point, then the first target solution angle is determined as the real-time joint angle of the first joint, and the second target solution angle is determined as the real-time joint angle of the fourth joint.

[0031] In one embodiment of this disclosure, the first solution angle set includes a first solution angle. and the second solution angle The second set of solution angles includes the third set of solution angles. and the fourth solution angle .

[0032]

[0033]

[0034] in, The first angle constraint coefficient, This is the second angle constraint coefficient. The third angle constraint coefficient, The fourth angle constraint coefficient, This represents the horizontal coordinate of the real-time position in the robot arm's coordinate system. This represents the ordinate of the real-time position in the robot arm's coordinate system.

[0035] In one embodiment of this disclosure, the second position constraint equation includes:

[0036]

[0037]

[0038] in, The first verification position constraint coefficient, The second verification position constraint coefficient, The third verification position constraint coefficient, Solve for the angle for the first objective. Solve for the angle for the second objective;

[0039] Solve the second position constraint equation to obtain the third and fourth solution positions of the actuator mounting point, including:

[0040] Solve the second position constraint equation to obtain the coordinates of the third solution position and the coordinates of the fourth solution position;

[0041]

[0042] The coordinates of the third solution position in the robot arm coordinate system are given. The coordinates of the fourth solution position in the coordinate system of the robotic arm.

[0043] Secondly, this disclosure provides a robotic arm control device for controlling a robotic arm. The robotic arm includes a first inner arm, a second inner arm, a first outer arm, a second outer arm, a horizontal connecting rod, and an end effector. The lengths of the first inner arm and the second inner arm are both target inner arm lengths, and the lengths of the first outer arm and the second outer arm are both target outer arm lengths. One end of the first inner arm is rotatably connected to a first fixed base via a first joint, and the other end of the first inner arm is rotatably connected to one end of the first outer arm via a second joint. The other end of the first outer arm is rotatably connected to one end of the horizontal connecting rod via a third joint. One end of the second inner arm is rotatably connected to a second fixed base via a fourth joint, and the other end of the second inner arm is rotatably connected to one end of the second outer arm via a fifth joint. The other end of the second outer arm is rotatably connected to the other end of the horizontal connecting rod via a sixth joint. The end effector is connected to an actuator mounting point located at the center of the horizontal connecting rod.

[0044] The robotic arm control device includes:

[0045] The first drive module is configured to drive the first joint and the fourth joint to rotate if the actuator mounting point is located on one side of the joint connection line, so that the end effector moves to the other side of the joint connection line and the horizontal connecting rod is always parallel to the joint connection line, wherein the joint connection line is the line connecting the axis of the first joint and the axis of the fourth joint, and the direction of rotation of the first joint is opposite to the direction of rotation of the fourth joint.

[0046] The second drive module is configured to stop driving the first and fourth joints to rotate when the actuator mounting point crosses the joint connection line, and to acquire the target velocity component of the actuator mounting point in the target direction perpendicular to the joint connection line.

[0047] The threshold acquisition module is configured to acquire velocity component thresholds based on the target joint friction torque, the target outer arm length, the target inner arm length, the mass of the robotic arm, the base distance between the first and fourth joints, and the connecting rod length of the horizontal connecting rod, wherein the target joint friction torque is the friction torque of the joint in the robotic arm.

[0048] The angle acquisition module is configured to acquire the first joint angle of the first joint and the second joint angle of the fourth joint when the end effector stops moving if the absolute value of the target velocity component is greater than or equal to the target velocity component threshold.

[0049] The position solving module is configured to construct a first position constraint equation for the actuator mounting point based on the target outer arm length, target inner arm length, base distance, connecting rod length, first joint angle, and second joint angle, and solve the first position constraint equation to obtain the first and second solution positions of the actuator mounting point.

[0050] The position determination module is configured to determine the position that is furthest from the joint line between the first solution position and the second solution position as the stop position of the actuator mounting point on the other side of the joint line.

[0051] Thirdly, this disclosure provides a robotic arm control system, which includes a robotic arm and the robotic arm control device described in the second aspect.

[0052] Fourthly, embodiments of this disclosure provide an electronic device including a memory and a processor, wherein the memory is used to store one or more computer instructions, wherein the one or more computer instructions are executed by the processor to implement the method as described in any one of the first aspects.

[0053] Fifthly, this disclosure provides a computer-readable storage medium having computer instructions stored thereon, which, when executed by a processor, implement the method as described in any one of the first aspects.

[0054] According to the technical solution provided in this disclosure, when the actuator mounting point is located on one side of the joint connection line, the first joint and the fourth joint are driven to rotate, causing the end effector to move to the other side of the joint connection line, and the horizontal connecting rod is always parallel to the joint connection line; when the actuator mounting point crosses the joint connection line, the rotation of the first joint and the fourth joint is stopped, and the target velocity component of the actuator mounting point in the target direction perpendicular to the joint connection line is obtained; the velocity component threshold is obtained based on the target joint friction torque, the target outer arm length, the target inner arm length, the mass of the robotic arm, the base distance between the first joint and the fourth joint, and the connecting rod length of the horizontal connecting rod. If the absolute value of the target velocity component is greater than or equal to the target velocity component threshold, then when the end effector stops moving, the first joint angle of the first joint and the second joint angle of the fourth joint are obtained. Based on the target outer arm length, target inner arm length, base distance, connecting rod length, first joint angle, and second joint angle, a first position constraint equation for the actuator mounting point is constructed, and the first position constraint equation is solved to obtain the first and second solution positions of the actuator mounting point. The position with the greatest distance from the joint connection line between the first and second solution positions is determined as the stopping position of the actuator mounting point on the other side of the joint connection line. In this scheme, by determining that the absolute value of the target velocity component is greater than or equal to the target velocity component threshold, it can be ensured that after the actuator mounting point crosses the joint connection line to the other side of the joint connection line, without continuing to drive the first and fourth joints to rotate, the end effector continues to move due to the inertia of the robotic arm, and under the action of the friction force of each joint in the robotic arm, the actuator mounting point stops at the position with the greatest distance from the joint connection line between the first and second solution positions, i.e., the stopping position. Therefore, this solution can quickly and accurately obtain the actuator installation point location without relying on image recognition technology. This not only improves the efficiency of obtaining the actuator installation point location, thus helping to improve the working efficiency of the robotic arm, but also reduces the occupation of processing resources, thereby reducing the cost of controlling the robotic arm.

[0055] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0056] Other features, objects, and advantages of this disclosure will become more apparent from the following detailed description of non-limiting embodiments, taken in conjunction with the accompanying drawings. In the drawings:

[0057] Figure 1 A structural diagram of a robotic arm according to an embodiment of the present disclosure is shown.

[0058] Figure 2 A flowchart illustrating a robotic arm control method according to an embodiment of the present disclosure is shown.

[0059] Figure 3 A structural block diagram of a robotic arm control device according to an embodiment of the present disclosure is shown.

[0060] Figure 4 A structural block diagram of a robotic arm control system according to an embodiment of the present disclosure is shown.

[0061] Figure 5 A structural block diagram of an electronic device according to an embodiment of the present disclosure is shown.

[0062] Figure 6 A schematic diagram of the structure of a computer system suitable for implementing the method according to embodiments of the present disclosure is shown. Detailed Implementation

[0063] In the following, exemplary embodiments of the present disclosure will be described in detail with reference to the accompanying drawings to enable those skilled in the art to readily implement them. Furthermore, for clarity, portions unrelated to the description of exemplary embodiments have been omitted from the drawings.

[0064] In this disclosure, it should be understood that terms such as “comprising” or “having” are intended to indicate the presence of features, figures, steps, behaviors, components, parts or combinations thereof disclosed in this specification, and are not intended to exclude the possibility of the presence or addition of one or more other features, figures, steps, behaviors, components, parts or combinations thereof.

[0065] It should also be noted that, unless otherwise specified, the embodiments and features described in this disclosure can be combined with each other. This disclosure will now be described in detail with reference to the accompanying drawings and embodiments.

[0066] In this disclosure, any operation involving the acquisition of user information or user data, or the display of user information or user data to others, is an operation authorized or confirmed by the user, or actively selected by the user.

[0067] In related technologies, in order to accurately determine the position of the actuator mounting point in the robotic arm when controlling the robotic arm, the position of the actuator mounting point in the robotic arm can be obtained by acquiring the image of the robotic arm in real time and performing image recognition on the image.

[0068] However, considering that the above solution relies on image recognition to obtain the position of the actuator mounting point in the robotic arm, the solution is slow in obtaining the position of the actuator mounting point in the robotic arm, which reduces the working efficiency of the robotic arm. At the same time, the solution also requires too much processing resources, resulting in high cost.

[0069] To address the problems in the related technologies, this disclosure provides a robotic arm control method, apparatus, system, device, and medium.

[0070] According to the technical solution provided in this disclosure, when the actuator mounting point is located on one side of the joint connection line, the first joint and the fourth joint are driven to rotate, causing the end effector to move to the other side of the joint connection line, and the horizontal connecting rod is always parallel to the joint connection line; when the actuator mounting point crosses the joint connection line, the rotation of the first joint and the fourth joint is stopped, and the target velocity component of the actuator mounting point in the target direction perpendicular to the joint connection line is obtained; the velocity component threshold is obtained based on the target joint friction torque, the target outer arm length, the target inner arm length, the mass of the robotic arm, the base distance between the first joint and the fourth joint, and the connecting rod length of the horizontal connecting rod. If the absolute value of the target velocity component is greater than or equal to the target velocity component threshold, then when the end effector stops moving, the first joint angle of the first joint and the second joint angle of the fourth joint are obtained. Based on the target outer arm length, target inner arm length, base distance, connecting rod length, first joint angle, and second joint angle, a first position constraint equation for the actuator mounting point is constructed, and the first position constraint equation is solved to obtain the first and second solution positions of the actuator mounting point. The position with the greatest distance from the joint connection line between the first and second solution positions is determined as the stopping position of the actuator mounting point on the other side of the joint connection line. In this scheme, by determining that the absolute value of the target velocity component is greater than or equal to the target velocity component threshold, it can be ensured that after the actuator mounting point crosses the joint connection line to the other side of the joint connection line, without continuing to drive the first and fourth joints to rotate, the end effector continues to move due to the inertia of the robotic arm, and under the action of the friction force of each joint in the robotic arm, the actuator mounting point stops at the position with the greatest distance from the joint connection line between the first and second solution positions, i.e., the stopping position. Therefore, this solution can quickly and accurately obtain the actuator installation point location without relying on image recognition technology. This not only improves the efficiency of obtaining the actuator installation point location, thus helping to improve the working efficiency of the robotic arm, but also reduces the occupation of processing resources, thereby reducing the cost of controlling the robotic arm.

[0071] This disclosure provides a robotic arm control method. Figure 1 A structural diagram of a robotic arm according to an embodiment of the present disclosure is shown. The robotic arm control method is applied to... Figure 1 robotic arms, such as Figure 1 As shown, the robotic arm includes a first inner arm 101, a second inner arm 102, a first outer arm 103, a second outer arm 104, a horizontal connecting rod 105, and an end effector 106.

[0072] One end of the first inner arm 101 is rotatably connected to the first fixed base via the first joint 107. The other end of the first inner arm 101 is rotatably connected to one end of the first outer arm 103 via the second joint 108. The other end of the first outer arm 103 is rotatably connected to one end of the horizontal connecting rod 105 via the third joint 109. One end of the second inner arm 102 is rotatably connected to the second fixed base via the fourth joint 110. The other end of the second inner arm 102 is rotatably connected to one end of the second outer arm 104 via the fifth joint 111. The other end of the second outer arm 104 is rotatably connected to the other end of the horizontal connecting rod 105 via the sixth joint 112. The end effector 106 is connected to the actuator mounting point 113 located in the center of the horizontal connecting rod 105.

[0073] The lengths of both the first inner arm 101 and the second inner arm 102 are target inner arm lengths 201. Taking the second inner arm 102 as an example, the target inner arm length 201 of the second inner arm 102 can be understood as the distance from the axis of the fourth joint 110 to the axis of the fifth joint 111.

[0074] The lengths of both the first outer arm 103 and the second outer arm 104 are the target outer arm length 202. Taking the second outer arm 104 as an example, the target outer arm length 202 of the second outer arm 104 can be understood as the distance from the axis of the fifth joint 111 to the axis of the sixth joint 112.

[0075] Figure 2 A flowchart illustrating a robotic arm control method according to an embodiment of the present disclosure is shown. Figure 2 As shown, the robotic arm control method includes the following steps:

[0076] In step S101, if the actuator mounting point is located on one side of the joint connection line, the first joint and the fourth joint are driven to rotate, so that the end effector moves to the other side of the joint connection line and the horizontal connecting rod is always parallel to the joint connection line.

[0077] The joint line is the line connecting the axis of the first joint and the axis of the fourth joint, and the direction of rotation of the first joint is opposite to the direction of rotation of the fourth joint.

[0078] For example, such as Figure 1 As shown, the actuator mounting point 113 is located on one side of the joint connection line 114, which drives the first joint 107 to rotate clockwise and the fourth joint 110 to rotate counterclockwise. Through the first inner arm 101, the second inner arm 102, the first outer arm 103, the second outer arm 104, and the horizontal connecting rod 105, the end effector 106 is moved to the other side of the joint connection line 114.

[0079] In step S102, when the actuator mounting point crosses the joint connection line, the rotation of the first and fourth joints is stopped, and the target velocity component of the actuator mounting point in the target direction perpendicular to the joint connection line is obtained.

[0080] By stopping the rotation of the first and fourth joints when the actuator mounting point crosses the joint connection line, the end effector can continue to move by relying on the inertia of the robotic arm, and gradually stop moving under the action of the friction force of each joint in the robotic arm.

[0081] In step S103, a velocity component threshold is obtained based on the target joint friction torque, the target outer arm length, the target inner arm length, the mass of the robotic arm, the base distance between the first joint and the fourth joint, and the connecting rod length of the horizontal connecting rod.

[0082] The target joint friction torque is the friction torque of the joint in the robotic arm.

[0083] For example, such as Figure 1 As shown, the base distance 204 between the first joint 107 and the fourth joint 110 can be understood as the distance from the axis of the first joint 107 to the axis of the fourth joint 110. The connecting rod length 203 of the horizontal connecting rod 105 can be understood as the distance from the axis of the third joint 109 to the axis of the sixth joint 112.

[0084] In step S104, if the absolute value of the target velocity component is greater than or equal to the target velocity component threshold, then when the end effector stops moving, the first joint angle of the first joint and the second joint angle of the fourth joint are obtained.

[0085] For example, such as Figure 1 As shown, the first joint angle 205 of the first joint 107 can be understood as the angle between the line 215 connecting the axis of the first joint 107 and the axis of the second joint 108 and the extension of the joint line 114. Similarly, the second joint angle 206 of the fourth joint 110 can be understood as the angle between the line 216 connecting the axis of the fourth joint 110 and the axis of the fifth joint 111 and the extension of the joint line 114.

[0086] In step S105, a first position constraint equation for the actuator mounting point is constructed based on the target outer arm length, target inner arm length, base distance, connecting rod length, first joint angle, and second joint angle. The first position constraint equation is then solved to obtain the first and second solution positions of the actuator mounting point.

[0087] In step S106, the position that is furthest from the joint line between the first solution position and the second solution position is determined as the stop position of the actuator mounting point on the other side of the joint line.

[0088] According to the technical solution provided in this disclosure, when the actuator mounting point is located on one side of the joint connection line, the first and fourth joints are driven to rotate, causing the end effector to move to the other side of the joint connection line, and ensuring that the horizontal connecting rod is always parallel to the joint connection line; when the actuator mounting point crosses the joint connection line, the rotation of the first and fourth joints is stopped, and the target velocity component of the actuator mounting point in the target direction perpendicular to the joint connection line is obtained; a velocity component threshold is obtained based on the target joint friction torque, the target outer arm length, the target inner arm length, the mass of the robotic arm, the base distance, and the connecting rod length of the horizontal connecting rod; if the target velocity... If the absolute value of the target velocity component is greater than or equal to the target velocity component threshold, then when the end effector stops moving, the first joint angle of the first joint and the second joint angle of the fourth joint are obtained. Based on the target outer arm length, target inner arm length, base distance, connecting rod length, first joint angle, and second joint angle, a first position constraint equation for the actuator mounting point is constructed, and the first position constraint equation is solved to obtain the first and second solution positions of the actuator mounting point. The position with the greatest distance from the joint line between the first and second solution positions is determined as the stopping position of the actuator mounting point on the other side of the joint line. In this scheme, by determining that the absolute value of the target velocity component is greater than or equal to the target velocity component threshold, it can be ensured that after the actuator mounting point crosses the joint line to the other side of the joint line, without continuing to drive the first and fourth joints to rotate, the end effector continues to move due to the inertia of the robotic arm, and under the action of the frictional force of each joint in the robotic arm, the actuator mounting point stops at the position with the greatest distance from the joint line between the first and second solution positions, i.e., the stopping position. Therefore, this solution can quickly and accurately obtain the actuator installation point location without relying on image recognition technology. This not only improves the efficiency of obtaining the actuator installation point location, thus helping to improve the working efficiency of the robotic arm, but also reduces the occupation of processing resources, thereby reducing the cost of controlling the robotic arm.

[0089] In one embodiment of this disclosure, a velocity component threshold is obtained based on the target joint friction torque, the target outer arm length, the target inner arm length, the mass of the robotic arm, the base distance between the first and fourth joints, and the connecting rod length of the horizontal connecting rod, including:

[0090] based on The first threshold coefficient was calculated. ;

[0091] in For the target inner arm length, For the target outer arm length, It is half the distance from the base. The length of the connecting rod;

[0092] based on The second threshold coefficient was calculated. ;

[0093] based on Calculate the velocity component threshold ;

[0094] in For the target joint friction torque, The mass of the robotic arm.

[0095] based on The first threshold coefficient was calculated. ,in For the target inner arm length, For the target outer arm length, It is half the distance from the base. This refers to the length of the connecting rod.

[0096] The second threshold coefficient was calculated. .

[0097] based on Calculate the velocity component threshold ,in For the target joint friction torque, The mass of the robotic arm.

[0098] According to the technical solution provided in the embodiments of this disclosure, obtaining the velocity component threshold through the above solution can improve the accuracy of the obtained velocity component threshold. By determining that the absolute value of the target velocity component is greater than or equal to the target velocity component threshold, it can be ensured that after the actuator mounting point crosses the joint connection line to the other side of the joint connection line, the end effector continues to move due to the inertia of the robotic arm without continuing to drive the first and fourth joints to rotate. Under the action of the friction force of each joint in the robotic arm, the actuator mounting point stops at the position with the farthest distance from the joint connection line in the first and second solution positions, i.e., the stopping position, which helps to improve the reliability of controlling the robotic arm.

[0099] In one embodiment of this disclosure, the first position constraint equation includes:

[0100]

[0101] in, The first position constraint coefficient, This is the second position constraint coefficient. This is the third position constraint coefficient. For the first joint angle, For the second joint angle, Let be the vertical coordinate of the actuator mounting point in the robot arm coordinate system. The origin of the robot arm coordinate system coincides with the midpoint of the joint connection line. The horizontal axis of the robot arm coordinate system coincides with the joint connection line, and the vertical axis of the robot arm coordinate system is perpendicular to the joint connection line.

[0102] For example, such as Figure 1 As shown, the origin 207 of the robotic arm coordinate system coincides with the midpoint of the joint line 114, the horizontal axis (X-axis) of the robotic arm coordinate system coincides with the joint line 114, and the vertical axis (Y-axis) of the robotic arm coordinate system is perpendicular to the joint line 114.

[0103] Solve the first position constraint equation to obtain the first and second solution positions of the actuator mounting point, including:

[0104] Solve the first position constraint equation to obtain the coordinates of the first solution position and the coordinates of the second solution position;

[0105]

[0106] Let the coordinates of the first solution position be in the coordinate system of the robotic arm. The coordinates of the second solution position in the coordinate system of the robotic arm are given.

[0107] According to the technical solution provided in the embodiments of this disclosure, obtaining the coordinates of the first solution position in the robot arm coordinate system and the coordinates of the second solution position in the robot arm coordinate system through the above solution can improve the accuracy of the obtained first solution position and second solution position, and help improve the reliability of controlling the robot arm.

[0108] In one embodiment of this disclosure, the robotic arm control method further includes:

[0109] The real-time position of the actuator mounting point is obtained, and based on the real-time position of the actuator mounting point, the target outer arm length, the target inner arm length, the base distance, and the connecting rod length, a first set of solution angles, including multiple solution angles, corresponding to the first joint and a second set of solution angles, including multiple solution angles, corresponding to the fourth joint are calculated.

[0110] Based on the target outer arm length, target inner arm length, base distance, connecting rod length, the first target solution angle in the first solution angle set, and the second target solution angle in the second solution angle set, construct the second position constraint equation of the actuator mounting point, solve the second position constraint equation, and obtain the third and fourth solution positions of the actuator mounting point.

[0111] If the position furthest from the joint line among the third and fourth solution positions matches the real-time position of the actuator mounting point, then the first target solution angle is determined as the real-time joint angle of the first joint, and the second target solution angle is determined as the real-time joint angle of the fourth joint.

[0112] According to the technical solution provided in this disclosure, by obtaining the real-time position of the actuator mounting point, and based on the real-time position of the actuator mounting point, the target outer arm length, the target inner arm length, the base distance, and the connecting rod length, a first set of solution angles and a second set of solution angles are calculated. Based on the target outer arm length, the target inner arm length, the base distance, the connecting rod length, the first target solution angle in the first set of solution angles, and the second target solution angle in the second set of solution angles, a second position constraint equation for the actuator mounting point is constructed, and the second position constraint equation is solved to obtain a third and a fourth solution position for the actuator mounting point. If the position in the third and fourth solution positions that is furthest from the joint line matches the real-time position of the actuator mounting point, then the first target solution angle is determined as the real-time joint angle of the first joint, and the second target solution angle is determined as the real-time joint angle of the fourth joint. This solution can calculate the real-time position of the actuator mounting point based on the real-time position of the actuator mounting point, the target outer arm length, the target inner arm length, the base distance, and the connecting rod length, without obtaining the joint angles of the first and fourth joints. Therefore, this solution can quickly and accurately obtain the actuator installation point location without relying on image recognition technology, which improves the efficiency of obtaining the actuator installation point location, thereby helping to improve the working efficiency of the robotic arm, reduce the occupation of processing resources, and thus reduce the cost of controlling the robotic arm.

[0113] In one embodiment of this disclosure, the first solution angle set includes a first solution angle. and the second solution angle The second set of solution angles includes the third set of solution angles. and the fourth solution angle .

[0114]

[0115]

[0116] in, The first angle constraint coefficient, This is the second angle constraint coefficient. The third angle constraint coefficient, The fourth angle constraint coefficient, This represents the horizontal coordinate of the real-time position in the robot arm's coordinate system. This represents the ordinate of the real-time position in the robot arm's coordinate system.

[0117] According to the technical solution provided in the embodiments of this disclosure, obtaining the first solution angle set and the second solution angle set through the above solution can improve the accuracy of the obtained first solution angle set and second solution angle set, which helps to improve the reliability of controlling the robotic arm.

[0118] In one embodiment of this disclosure, the second position constraint equation includes:

[0119]

[0120]

[0121] in, The first verification position constraint coefficient, The second verification position constraint coefficient, The third verification position constraint coefficient, Solve for the angle for the first objective. Solve for the angle for the second objective;

[0122] Solve the second position constraint equation to obtain the third and fourth solution positions of the actuator mounting point, including:

[0123] Solve the second position constraint equation to obtain the coordinates of the third solution position and the coordinates of the fourth solution position;

[0124]

[0125] The coordinates of the third solution position in the robot arm coordinate system are given. The coordinates of the fourth solution position in the coordinate system of the robotic arm.

[0126] According to the technical solution provided in the embodiments of this disclosure, obtaining the coordinates of the third solution position and the fourth solution position in the robot arm coordinate system through the above solution can improve the accuracy of the obtained third solution position and fourth solution position, and help improve the reliability of controlling the robot arm.

[0127] This disclosure also discloses a robotic arm control device. Figure 3 A structural block diagram of a robotic arm control device according to an embodiment of the present disclosure is shown. This device can be implemented as part or all of an electronic device through software, hardware, or a combination of both.

[0128] The robotic arm control device is used to control the robotic arm, which includes a first inner arm, a second inner arm, a first outer arm, a second outer arm, a horizontal connecting rod, and an end effector. The lengths of the first and second inner arms are both target inner arm lengths, and the lengths of the first and second outer arms are both target outer arm lengths. One end of the first inner arm is rotatably connected to a first fixed base via a first joint, and the other end of the first inner arm is rotatably connected to one end of the first outer arm via a second joint. The other end of the first outer arm is rotatably connected to one end of the horizontal connecting rod via a third joint. One end of the second inner arm is rotatably connected to a second fixed base via a fourth joint, and the other end of the second inner arm is rotatably connected to one end of the second outer arm via a fifth joint. The other end of the second outer arm is rotatably connected to the other end of the horizontal connecting rod via a sixth joint. The end effector is connected to an actuator mounting point located in the center of the horizontal connecting rod.

[0129] like Figure 3 As shown, the robotic arm control device includes:

[0130] The first drive module 301 is configured to drive the first joint and the fourth joint to rotate if the actuator mounting point is located on one side of the joint connection line, so that the end effector moves to the other side of the joint connection line and the horizontal connecting rod is always parallel to the joint connection line, wherein the joint connection line is the line connecting the axis of the first joint and the axis of the fourth joint, and the direction of rotation of the first joint is opposite to the direction of rotation of the fourth joint.

[0131] The second drive module 302 is configured to stop driving the first joint and the fourth joint to rotate when the actuator mounting point crosses the joint connection line, and to acquire the target velocity component of the actuator mounting point in the target direction perpendicular to the joint connection line.

[0132] The threshold acquisition module 303 is configured to acquire a velocity component threshold based on the target joint friction torque, the target outer arm length, the target inner arm length, the mass of the robotic arm, the base distance between the first joint and the fourth joint, and the connecting rod length of the horizontal connecting rod, wherein the target joint friction torque is the friction torque of the joint in the robotic arm.

[0133] The angle acquisition module 304 is configured to acquire the first joint angle of the first joint and the second joint angle of the fourth joint when the end effector stops moving if the absolute value of the target velocity component is greater than or equal to the target velocity component threshold.

[0134] The position solving module 305 is configured to construct a first position constraint equation for the actuator mounting point based on the target outer arm length, target inner arm length, base distance, connecting rod length, first joint angle, and second joint angle, and solve the first position constraint equation to obtain the first and second solution positions of the actuator mounting point.

[0135] The position determination module 306 is configured to determine the position that is furthest from the joint line between the first solution position and the second solution position as the stop position of the actuator mounting point on the other side of the joint line.

[0136] According to the technical solution provided in this disclosure, when the actuator mounting point is located on one side of the joint connection line, the first joint and the fourth joint are driven to rotate, causing the end effector to move to the other side of the joint connection line, and the horizontal connecting rod is always parallel to the joint connection line; when the actuator mounting point crosses the joint connection line, the rotation of the first joint and the fourth joint is stopped, and the target velocity component of the actuator mounting point in the target direction perpendicular to the joint connection line is obtained; the velocity component threshold is obtained based on the target joint friction torque, the target outer arm length, the target inner arm length, the mass of the robotic arm, the base distance between the first joint and the fourth joint, and the connecting rod length of the horizontal connecting rod. If the absolute value of the target velocity component is greater than or equal to the target velocity component threshold, then when the end effector stops moving, the first joint angle of the first joint and the second joint angle of the fourth joint are obtained. Based on the target outer arm length, target inner arm length, base distance, connecting rod length, first joint angle, and second joint angle, a first position constraint equation for the actuator mounting point is constructed, and the first position constraint equation is solved to obtain the first and second solution positions of the actuator mounting point. The position with the greatest distance from the joint connection line between the first and second solution positions is determined as the stopping position of the actuator mounting point on the other side of the joint connection line. In this scheme, by determining that the absolute value of the target velocity component is greater than or equal to the target velocity component threshold, it can be ensured that after the actuator mounting point crosses the joint connection line to the other side of the joint connection line, without continuing to drive the first and fourth joints to rotate, the end effector continues to move due to the inertia of the robotic arm, and under the action of the friction force of each joint in the robotic arm, the actuator mounting point stops at the position with the greatest distance from the joint connection line between the first and second solution positions, i.e., the stopping position. Therefore, this solution can quickly and accurately obtain the actuator installation point location without relying on image recognition technology. This not only improves the efficiency of obtaining the actuator installation point location, thus helping to improve the working efficiency of the robotic arm, but also reduces the occupation of processing resources, thereby reducing the cost of controlling the robotic arm.

[0137] This disclosure also discloses a robotic arm control system. Figure 4 A structural block diagram of a robotic arm control system according to an embodiment of the present disclosure is shown. Figure 4 As shown, the robotic arm control system 400 includes a robotic arm 401 and a robotic arm control device 402.

[0138] This disclosure also discloses an electronic device. Figure 5 A structural block diagram of an electronic device according to an embodiment of the present disclosure is shown.

[0139] like Figure 5 As shown, the electronic device includes a memory and a processor, wherein the memory is used to store one or more computer instructions, wherein the one or more computer instructions are executed by the processor to implement the method according to embodiments of the present disclosure.

[0140] This disclosure provides a robotic arm control method. The robotic arm includes a first inner arm, a second inner arm, a first outer arm, a second outer arm, a horizontal connecting rod, and an end effector. The lengths of the first inner arm and the second inner arm are both target inner arm lengths, and the lengths of the first outer arm and the second outer arm are both target outer arm lengths. One end of the first inner arm is rotatably connected to a first fixed base via a first joint, and the other end of the first inner arm is rotatably connected to one end of the first outer arm via a second joint. The other end of the first outer arm is rotatably connected to one end of the horizontal connecting rod via a third joint. One end of the second inner arm is rotatably connected to a second fixed base via a fourth joint, and the other end of the second inner arm is rotatably connected to one end of the second outer arm via a fifth joint. The other end of the second outer arm is rotatably connected to the other end of the horizontal connecting rod via a sixth joint. The end effector is connected to an actuator mounting point located at the center of the horizontal connecting rod.

[0141] Robotic arm control methods include:

[0142] If the actuator mounting point is located on one side of the joint connection line, the first and fourth joints are driven to rotate, causing the end effector to move to the other side of the joint connection line, and the horizontal connecting rod is always parallel to the joint connection line, where the joint connection line is the line connecting the axis of the first joint and the axis of the fourth joint, and the direction of rotation of the first joint is opposite to the direction of rotation of the fourth joint.

[0143] When the actuator mounting point crosses the joint connection line, stop driving the first and fourth joints to rotate, and obtain the target velocity component of the actuator mounting point in the target direction perpendicular to the joint connection line.

[0144] The velocity component threshold is obtained based on the target joint friction torque, the target outer arm length, the target inner arm length, the mass of the robotic arm, the base distance between the first and fourth joints, and the connecting rod length of the horizontal connecting rod, where the target joint friction torque is the friction torque of the joint in the robotic arm.

[0145] If the absolute value of the target velocity component is greater than or equal to the target velocity component threshold, then when the end effector stops moving, the first joint angle of the first joint and the second joint angle of the fourth joint are obtained.

[0146] Based on the target outer arm length, target inner arm length, base distance, connecting rod length, first joint angle, and second joint angle, a first position constraint equation for the actuator mounting point is constructed, and the first position constraint equation is solved to obtain the first and second solution positions of the actuator mounting point.

[0147] The position that is furthest from the joint line between the first and second solution positions is determined as the stop position of the actuator installation point on the other side of the joint line.

[0148] In one embodiment of this disclosure, a velocity component threshold is obtained based on the target joint friction torque, the target outer arm length, the target inner arm length, the mass of the robotic arm, the base distance between the first and fourth joints, and the connecting rod length of the horizontal connecting rod, including:

[0149] based on The first threshold coefficient was calculated. ;

[0150] in For the target inner arm length, For the target outer arm length, It is half the distance from the base. The length of the connecting rod;

[0151] based on The second threshold coefficient was calculated. ;

[0152] based on Calculate the velocity component threshold ;

[0153] in For the target joint friction torque, The mass of the robotic arm.

[0154] In one embodiment of this disclosure, the first position constraint equation includes:

[0155]

[0156] in, The first position constraint coefficient, This is the second position constraint coefficient. This is the third position constraint coefficient. For the first joint angle, For the second joint angle, Let be the vertical coordinate of the actuator mounting point in the robot arm coordinate system. The origin of the robot arm coordinate system coincides with the midpoint of the joint connection line. The horizontal axis of the robot arm coordinate system coincides with the joint connection line, and the vertical axis of the robot arm coordinate system is perpendicular to the joint connection line.

[0157] Solve the first position constraint equation to obtain the first and second solution positions of the actuator mounting point, including:

[0158] Solve the first position constraint equation to obtain the coordinates of the first solution position and the coordinates of the second solution position;

[0159]

[0160] Let the coordinates of the first solution position be in the coordinate system of the robotic arm. The coordinates of the second solution position in the coordinate system of the robotic arm are given.

[0161] In one embodiment of this disclosure, the robotic arm control method further includes:

[0162] The real-time position of the actuator mounting point is obtained, and based on the real-time position of the actuator mounting point, the target outer arm length, the target inner arm length, the base distance, and the connecting rod length, a first set of solution angles, including multiple solution angles, corresponding to the first joint and a second set of solution angles, including multiple solution angles, corresponding to the fourth joint are calculated.

[0163] Based on the target outer arm length, target inner arm length, base distance, connecting rod length, the first target solution angle in the first solution angle set, and the second target solution angle in the second solution angle set, construct the second position constraint equation of the actuator mounting point, solve the second position constraint equation, and obtain the third and fourth solution positions of the actuator mounting point.

[0164] If the position furthest from the joint line among the third and fourth solution positions matches the real-time position of the actuator mounting point, then the first target solution angle is determined as the real-time joint angle of the first joint, and the second target solution angle is determined as the real-time joint angle of the fourth joint.

[0165] In one embodiment of this disclosure, the first solution angle set includes a first solution angle. and the second solution angle The second set of solution angles includes the third set of solution angles. and the fourth solution angle .

[0166]

[0167]

[0168] in, The first angle constraint coefficient, This is the second angle constraint coefficient. The third angle constraint coefficient, The fourth angle constraint coefficient, This represents the horizontal coordinate of the real-time position in the robot arm's coordinate system. This represents the ordinate of the real-time position in the robot arm's coordinate system.

[0169] In one embodiment of this disclosure, the second position constraint equation includes:

[0170]

[0171]

[0172] in, The first verification position constraint coefficient, The second verification position constraint coefficient, The third verification position constraint coefficient, Solve for the angle for the first objective. Solve for the angle for the second objective;

[0173] Solve the second position constraint equation to obtain the third and fourth solution positions of the actuator mounting point, including:

[0174] Solve the second position constraint equation to obtain the coordinates of the third solution position and the coordinates of the fourth solution position;

[0175]

[0176] The coordinates of the third solution position in the robot arm coordinate system are given. The coordinates of the fourth solution position in the coordinate system of the robotic arm.

[0177] Figure 6 A schematic diagram of the structure of a computer system suitable for implementing the method according to embodiments of the present disclosure is shown.

[0178] like Figure 6 As shown, the computer system includes a processing unit that can execute various methods described above based on a program stored in a read-only memory (ROM) or a program loaded from a storage portion into a random access memory (RAM). The RAM also stores various programs and data required for the operation of the computer system. The processing unit, ROM, and RAM are interconnected via a bus. Input / output (I / O) interfaces are also connected to the bus.

[0179] The following components are connected to the I / O interface: input sections including keyboards, mice, etc.; output sections including cathode ray tubes (CRTs), liquid crystal displays (LCDs), and speakers; storage sections including hard disks; and communication sections including network interface cards such as LAN cards and modems. The communication section performs communication processes via a network such as the Internet. Drives are also connected to the I / O interface as needed. Removable media, such as disks, optical disks, magneto-optical disks, semiconductor memories, etc., are installed on the drive as needed so that computer programs read from them can be installed into the storage section as required. The processing unit can be implemented as a CPU, GPU, TPU, FPGA, NPU, etc.

[0180] In particular, according to embodiments of this disclosure, the methods described above can be implemented as computer software programs. For example, embodiments of this disclosure include a computer program product comprising a computer program tangibly embodied on a machine-readable medium, the computer program containing program code for performing the methods described above. In such embodiments, the computer program can be downloaded and installed from a network via a communication component, and / or installed from a removable medium.

[0181] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0182] The units or modules described in the embodiments of this disclosure can be implemented in software or programmable hardware. The described units or modules can also be located in a processor, and the names of these units or modules do not necessarily constitute a limitation on the unit or module itself.

[0183] In another aspect, this disclosure also provides a computer-readable storage medium, which may be a computer-readable storage medium included in the electronic device or computer system described above; or it may be a standalone computer-readable storage medium not assembled into a device. The computer-readable storage medium stores one or more programs, which are used by one or more processors to perform the methods described in this disclosure.

[0184] The above description is merely a preferred embodiment of this disclosure and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of the invention involved in this disclosure is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the inventive concept. For example, technical solutions formed by substituting the above-described features with (but not limited to) technical features disclosed in this disclosure that have similar functions.

Claims

1. A robotic arm control method, characterized in that, The robotic arm includes a first inner arm, a second inner arm, a first outer arm, a second outer arm, a horizontal connecting rod, and an end effector. The lengths of the first and second inner arms are both target inner arm lengths, and the lengths of the first and second outer arms are both target outer arm lengths. One end of the first inner arm is rotatably connected to a first fixed base via a first joint, and the other end of the first inner arm is rotatably connected to one end of the first outer arm via a second joint. The other end of the first outer arm is rotatably connected to one end of the horizontal connecting rod via a third joint. One end of the second inner arm is rotatably connected to a second fixed base via a fourth joint, and the other end of the second inner arm is rotatably connected to one end of the second outer arm via a fifth joint. The other end of the second outer arm is rotatably connected to the other end of the horizontal connecting rod via a sixth joint. The end effector is connected to an actuator mounting point located at the center of the horizontal connecting rod. The robotic arm control method includes: If the actuator mounting point is located on one side of the joint connection line, the first joint and the fourth joint are driven to rotate, causing the end effector to move to the other side of the joint connection line, and the horizontal connecting rod is always parallel to the joint connection line, wherein the joint connection line is the line connecting the axis of the first joint and the axis of the fourth joint, and the direction of rotation of the first joint is opposite to the direction of rotation of the fourth joint. When the actuator mounting point crosses the joint line, stop driving the first joint and the fourth joint to rotate, and obtain the target velocity component of the actuator mounting point in the target direction perpendicular to the joint line. The velocity component threshold is obtained based on the target joint friction torque, the target outer arm length, the target inner arm length, the mass of the robotic arm, the base distance between the first joint and the fourth joint, and the connecting rod length of the horizontal connecting rod, wherein the target joint friction torque is the friction torque of the joint in the robotic arm; If the absolute value of the target velocity component is greater than or equal to the target velocity component threshold, then when the end effector stops moving, the first joint angle of the first joint and the second joint angle of the fourth joint are obtained. Based on the target outer arm length, the target inner arm length, the base distance, the connecting rod length, the first joint angle, and the second joint angle, a first position constraint equation for the actuator mounting point is constructed, and the first position constraint equation is solved to obtain the first solution position and the second solution position of the actuator mounting point. The position that is furthest from the joint line between the first solution position and the second solution position is determined as the stopping position of the actuator mounting point on the other side of the joint line.

2. The robotic arm control method according to claim 1, characterized in that, The method of obtaining the velocity component threshold based on the target joint friction torque, the target outer arm length, the target inner arm length, the mass of the robotic arm, the base distance between the first joint and the fourth joint, and the connecting rod length of the horizontal connecting rod includes: based on The first threshold coefficient was calculated. ; in The target inner arm length, The length of the target outer arm, It is half the distance from the base. The length of the connecting rod; based on The second threshold coefficient was calculated. ; based on Calculate the velocity component threshold ; in The frictional torque of the target joint. Let be the mass of the robotic arm.

3. The robotic arm control method according to claim 2, characterized in that, The first position constraint equation includes: in, The first position constraint coefficient, This is the second position constraint coefficient. This is the third position constraint coefficient. The angle of the first joint. The angle of the second joint. Let be the ordinate of the actuator mounting point in the robotic arm coordinate system. The origin of the robotic arm coordinate system coincides with the midpoint of the joint line. The horizontal axis of the robotic arm coordinate system coincides with the joint line. The vertical axis of the robotic arm coordinate system is perpendicular to the joint line. Solving the first position constraint equation to obtain the first and second solution positions of the actuator mounting point includes: Solve the first position constraint equation to obtain the coordinates of the first solution position and the coordinates of the second solution position; Let the coordinates of the first solution position be in the coordinate system of the robotic arm. The coordinates of the second solution position in the coordinate system of the robotic arm are given.

4. The robotic arm control method according to claim 3, characterized in that, The method further includes: The real-time position of the actuator mounting point is obtained, and based on the real-time position of the actuator mounting point, the target outer arm length, the target inner arm length, the base distance, and the connecting rod length, a first set of solution angles including multiple solution angles corresponding to the first joint and a second set of solution angles including multiple solution angles corresponding to the fourth joint are calculated. Based on the target outer arm length, the target inner arm length, the base distance, the connecting rod length, the first target solution angle in the first solution angle set, and the second target solution angle in the second solution angle set, a second position constraint equation for the actuator mounting point is constructed, and the second position constraint equation is solved to obtain the third and fourth solution positions of the actuator mounting point. If the position furthest from the joint line among the third and fourth solution positions matches the real-time position of the actuator mounting point, then the first target solution angle is determined as the real-time joint angle of the first joint, and the second target solution angle is determined as the real-time joint angle of the fourth joint.

5. The robotic arm control method according to claim 4, characterized in that, The first set of solution angles includes the first solution angle. and the second solution angle The second set of solution angles includes the third set of solution angles. and the fourth solution angle ; in, The first angle constraint coefficient, This is the second angle constraint coefficient. The third angle constraint coefficient, The fourth angle constraint coefficient, The real-time position is the x-coordinate of the robotic arm in the coordinate system. The real-time position is the ordinate in the coordinate system of the robotic arm.

6. The robotic arm control method according to claim 5, characterized in that, The second position constraint equation includes: in, The first verification position constraint coefficient, The second verification position constraint coefficient, The third verification position constraint coefficient, Solve for the angle for the first objective. Solve for the angle for the second objective; Solving the second position constraint equation to obtain the third and fourth solution positions of the actuator mounting point includes: Solve the second position constraint equation to obtain the coordinates of the third solution position and the coordinates of the fourth solution position; The coordinates of the third solution position in the robot arm coordinate system are given. The coordinates of the fourth solution position in the coordinate system of the robotic arm.

7. A robotic arm control device, characterized in that, The robotic arm control device is used to control the robotic arm, which includes a first inner arm, a second inner arm, a first outer arm, a second outer arm, a horizontal connecting rod, and an end effector. The lengths of the first inner arm and the second inner arm are both target inner arm lengths, and the lengths of the first outer arm and the second outer arm are both target outer arm lengths. One end of the first inner arm is rotatably connected to a first fixed base via a first joint, and the other end of the first inner arm is rotatably connected to one end of the first outer arm via a second joint. The other end of the first outer arm is rotatably connected to one end of the horizontal connecting rod via a third joint. One end of the second inner arm is rotatably connected to a second fixed base via a fourth joint, and the other end of the second inner arm is rotatably connected to one end of the second outer arm via a fifth joint. The other end of the second outer arm is rotatably connected to the other end of the horizontal connecting rod via a sixth joint. The end effector is connected to an actuator mounting point located at the center of the horizontal connecting rod. The robotic arm control device includes: The first drive module is configured to drive the first joint and the fourth joint to rotate if the actuator mounting point is located on one side of the joint connection line, so that the end effector moves to the other side of the joint connection line and the horizontal connecting rod is always parallel to the joint connection line, wherein the joint connection line is the line connecting the axis of the first joint and the axis of the fourth joint, and the direction of rotation of the first joint is opposite to the direction of rotation of the fourth joint. The second drive module is configured to stop driving the first joint and the fourth joint to rotate when the actuator mounting point crosses the joint line, and to acquire the target velocity component of the actuator mounting point in the target direction perpendicular to the joint line. The threshold acquisition module is configured to acquire a velocity component threshold based on the target joint friction torque, the target outer arm length, the target inner arm length, the mass of the robotic arm, the base distance between the first joint and the fourth joint, and the connecting rod length of the horizontal connecting rod, wherein the target joint friction torque is the friction torque of the joint in the robotic arm; An angle acquisition module is configured to acquire the first joint angle of the first joint and the second joint angle of the fourth joint when the end effector stops moving if the absolute value of the target velocity component is greater than or equal to the target velocity component threshold. The position solving module is configured to construct a first position constraint equation for the actuator mounting point based on the target outer arm length, the target inner arm length, the base distance, the connecting rod length, the first joint angle, and the second joint angle, and solve the first position constraint equation to obtain the first solution position and the second solution position of the actuator mounting point. The position determination module is configured to determine the position that is furthest from the joint line between the first solution position and the second solution position as the stop position of the actuator mounting point on the other side of the joint line.

8. A robotic arm control system, characterized in that, The robotic arm control system includes a robotic arm and a robotic arm control device as described in claim 7.

9. An electronic device, characterized in that, It includes a memory and a processor; wherein the memory is used to store one or more computer instructions, wherein the one or more computer instructions are executed by the processor to implement the method of any one of claims 1-6.

10. A computer-readable storage medium storing computer instructions thereon, characterized in that, When executed by a processor, the computer instructions implement the method of any one of claims 1-6.

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